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husky / husky_simulator

Simulator packages for the Clearpath Husky for Indigo & prior. For kinetic, visit https://github.com/husky/husky
http://wiki.ros.org/Robots/Husky
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[WARN]: Controller Spawner couldn't find the expected controller_manager ROS Interface #29

Closed aranganath closed 7 years ago

aranganath commented 7 years ago

Hi,

I've been trying to run the husky_gazebo node.. But for some reason, I'm not able to control husky using the teleop_keyboard.

The status once I run roslaunch husky_gazebo husky_playpen.launch is:

... logging to /home/aditya/.ros/log/956de5ca-06c6-11e7-ac58-c8ff287985b5/roslaunch-aditya-Lenovo-Yoga710-14ISK-13541.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing! To check for compatibility of your document, use option --check-order. For more infos, see http://wiki.ros.org/xacro#Processing_Order deprecated: xacro tags should be prepended with 'xacro' xml namespace. Use the following script to fix incorrect usage: find . -iname "*.xacro" | xargs sed -i 's#<([/]\?)(if|unless|include|arg|property|macro|insert_block)#<\1xacro:\2#g' when processing file: /home/aditya/CSE180/src/husky_gazebo/urdf/description.gazebo.xacro

xacro.py is deprecated; please use xacro instead started roslaunch server http://aditya-Lenovo-Yoga710-14ISK:37005/

SUMMARY

PARAMETERS

NODES / base_controller_spawner (controller_manager/spawner) ekf_localization (robot_localization/ekf_localization_node) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) robot_state_publisher (robot_state_publisher/robot_state_publisher) spawn_husky_model (gazebo_ros/spawn_model) twist_marker_server (interactive_marker_twist_server/marker_server) twist_mux (twist_mux/twist_mux)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[gazebo-1]: started with pid [13562] process[gazebo_gui-2]: started with pid [13567] process[robot_state_publisher-3]: started with pid [13572] process[base_controller_spawner-4]: started with pid [13573] process[ekf_localization-5]: started with pid [13580] process[twist_marker_server-6]: started with pid [13593] process[twist_mux-7]: started with pid [13599] process[spawn_husky_model-8]: started with pid [13625] [ INFO] [1489285026.759704645]: [twist_marker_server] Initialized. [ INFO] [1489285026.963734797]: Finished loading Gazebo ROS API Plugin. [ INFO] [1489285026.964849792]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1489285027.836769729, 1298.500000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1489285027.885431704, 1298.550000000]: Physics dynamic reconfigure ready. Warning [parser_urdf.cc:1232] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false]. [ INFO] [1489285028.861646869, 1298.680000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/' [ INFO] [1489285028.861787644, 1298.680000000]: Starting Laser Plugin (ns = /)! [ INFO] [1489285028.863121697, 1298.680000000]: Laser Plugin (ns = /) , set to "" [spawn_husky_model-8] process has finished cleanly log file: /home/aditya/.ros/log/956de5ca-06c6-11e7-ac58-c8ff287985b5/spawn_husky_model-8.log [WARN] [1489285057.209350, 1326.810000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [base_controller_spawner-4] process has finished cleanly log file: /home/aditya/.ros/log/956de5ca-06c6-11e7-ac58-c8ff287985b5/base_controller_spawner-4.log

I have tried the answers here: http://answers.ros.org/question/214712/gazebo-controller-spawner-warning/

But sadly in vain. I have managed to run it on other machines. But it refuses to run on mine.

ros debugger (roswtf) returns the following:

Loaded plugin tf.tfwtf No package or stack in context

Static checks summary:

No errors or warnings

Beginning tests of your ROS graph. These may take awhile... analyzing graph... ... done analyzing graph running graph rules... ... done running graph rules running tf checks, this will take a second... ... tf checks complete

Online checks summary:

Found 3 warning(s). Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:

WARNING These nodes have died:

WARNING Received out-of-date/future transforms:

running rostopic echo husky_velocity_controller/cmd_vel gives me: rostopic echo /husky_velocity_controller/cmd_vel WARNING: no messages received and simulated time is active. Is /clock being published?

FOr which I have tried the solution given in the link below: http://answers.ros.org/question/12083/messages-being-blocked-from-publishing/

I have attached the image below to show how my graph currently looks like image

I have controller_manager installed. But it doesn't seem to load when I launch gazebo.

Kindly let me know what the issue could be ! Regards

David-Guo commented 7 years ago

@aranganath I meet the same error. Did you solve this ?

aranganath commented 7 years ago

Try this:sudo apt-get install ros-kinetic-gazebo-ros-control. Worked for me!